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1. WO2022003727 - A COMPLIANT MECHANISM BASED VARIABLE STIFFNESS ROBOTIC GRASPER

Publication Number WO/2022/003727
Publication Date 06.01.2022
International Application No. PCT/IN2021/050643
International Filing Date 01.07.2021
IPC
B25J 15/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
B25J 15/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
02servo-actuated
B25J 15/12 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
08having finger members
12with flexible finger members
Applicants
  • INDIAN INSTITUTE OF TECHNOLOGY MADRAS (IIT MADRAS) [IN]/[IN]
Inventors
  • SOMAYAJI, Adarsh
  • THONDIYATH, Asokan
  • CHANDRASEKARAN, Karthik
Agents
  • VENKATARAMAN, Shankar
Priority Data
20204102796101.07.2020IN
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) A COMPLIANT MECHANISM BASED VARIABLE STIFFNESS ROBOTIC GRASPER
(FR) DISPOSITIF DE PRÉHENSION ROBOTIQUE À RIGIDITÉ VARIABLE FONDÉ SUR UN MÉCANISME DOCILE
Abstract
(EN) The present disclosure relates to an apparatus for grasping an object based on structural modulation of a compliant structure. The apparatus (100) includes a pair of grasping jaws (101), a parallelogram based four-bar linkage (110) coupled to the jaws (101). The jaws (101) includes at least two opposing elongated parallelogram shaped envelopes (102), and a set of second parallelogram shaped envelopes (104) disposed within the elongated envelopes (102). A plurality of rotors (106) housed within the envelopes (104) include ribs (108) disposed within the envelopes (104), wherein orientation of the ribs varies stiffness of the grasping jaws (101). The jaws with variable stiffness may be used to perform grasping and manipulation of different types of objects, including rotation and translation along a jaw. A parallelogram-shaped envelope (400) including rotors for modulating stiffness that may be attached to any mechanized or robotic device is also disclosed.
(FR) La présente divulgation concerne un appareil permettant de saisir un objet en fonction d'une modulation structurale d'une structure docile. L'appareil (100) comprend une paire de mâchoires de préhension (101), une liaison à quatre barres à base de parallélogramme (110) accouplée aux mâchoires (101). Les mâchoires (101) comprennent au moins deux enveloppes allongées opposées en forme de parallélogramme (102), et un ensemble de secondes enveloppes en forme de parallélogramme (104) disposées à l'intérieur des enveloppes allongées (102). Une pluralité de rotors (106) logés dans les enveloppes (104) comprennent des nervures (108) disposées à l'intérieur des enveloppes (104), l'orientation des nervures faisant varier la rigidité des mâchoires de préhension (101). Les mâchoires à rigidité variable peuvent être utilisées pour effectuer la saisie et la manipulation de différents types d'objets, y compris la rotation et la translation le long d'une mâchoire. Est également divulguée une enveloppe en forme de parallélogramme (400) comprenant des rotors permettant de moduler la rigidité qui peut être fixée à n'importe quel dispositif mécanisé ou robotique.
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